controltaskproxy.cpp

机器人开源项目orocos的源代码

/***************************************************************************
  tag: Peter Soetens  Wed Jan 18 14:09:49 CET 2006  ControlTaskProxy.cxx 

                        ControlTaskProxy.cxx -  description
                           -------------------
    begin                : Wed January 18 2006
    copyright            : (C) 2006 Peter Soetens
    email                : [e-mail]
 
 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
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 *   version 2 of the License.                                             *
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 *   software library without restriction.  Specifically, if other files   *
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 *   resulting executable to be covered by the GNU General Public          *
 *   License.  This exception does not however invalidate any other        *
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 *   Public License.                                                       *
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#include "ControlTaskProxy.hpp"
#include "ControlTaskServer.hpp"
#include "ControlTaskC.h"
#include "CorbaMethodFactory.hpp"
#include "CorbaCommandFactory.hpp"
#include "CORBAExpression.hpp"
#include "ScriptingAccessProxy.hpp"
#include "CorbaPort.hpp"

#include "CommandInterface.hpp"
#include "Types.hpp"
#include "orbsvcs/CosNamingC.h"
#include <iostream>

#include <ace/String_Base.h>

using namespace std;

namespace RTT
{namespace Corba
{
    IllegalServer::IllegalServer() : reason("This server does not exist or has the wrong type.") {}

    IllegalServer::~IllegalServer() throw() {}

    const char* IllegalServer::what() const throw() { return reason.c_str(); }


    std::map<Corba::ControlTask_ptr, ControlTaskProxy*> ControlTaskProxy::proxies;

    PortableServer::POA_var ControlTaskProxy::proxy_poa;

    ControlTaskProxy::~ControlTaskProxy()
    {
        if ( this->properties() ) {
            flattenPropertyBag( *this->properties() );
            deleteProperties( *this->properties() );
        }
        this->attributes()->clear();
    }

    ControlTaskProxy::ControlTaskProxy(std::string name, bool is_ior) 
        : TaskContext("NotFound") 
    {
        try {
            if (is_ior) {
                // Use the first argument to create the task object reference,
                // in real applications we use the naming service, but let's do
                // the easy part first!
                CORBA::Object_var task_object =
                    orb->string_to_object ( name.c_str() );

                // Now downcast the object reference to the appropriate type
                mtask = Corba::ControlTask::_narrow (task_object.in ());
            } else {
                // NameService
                CORBA::Object_var rootObj = orb->resolve_initial_references("NameService");
                CosNaming::NamingContext_var rootContext = CosNaming::NamingContext::_narrow(rootObj.in());
                if (CORBA::is_nil(rootContext.in() )) {
                    log(Error) << "ControlTaskProxy could not acquire NameService."<<endlog();
                    throw IllegalServer();
                }
                Logger::log() <<Logger::Debug << "ControlTaskProxy found CORBA NameService."<<endlog();
                CosNaming::Name serverName;
                serverName.length(2);
                serverName[0].id = CORBA::string_dup("ControlTasks");
                serverName[1].id = CORBA::string_dup( name.c_str() );

                // Get object reference
                CORBA::Object_var task_object = rootContext->resolve(serverName);
                mtask = Corba::ControlTask::_narrow (task_object.in ());
            }
            if ( CORBA::is_nil( mtask.in() ) ) {
                Logger::log() << Logger::Error << "Failed to acquire ControlTaskServer '"+name+"'."<<endlog();
                throw IllegalServer();
            }
            CORBA::String_var nm = mtask->getName(); // force connect to object.
            std::string newname( nm.in() );
            this->mtask_name = newname;
            Logger::log() << Logger::Info << "Successfully connected to ControlTaskServer '"+newname+"'."<<endlog();
            proxies[mtask] = this;
        }
        catch (CORBA::Exception &e) {
            log(Error)<< "CORBA exception raised when resolving Object !" << endlog();
            Logger::log() << e._info().c_str() << endlog();
        }
        catch (...) {
            log(Error) <<"Unknown Exception in ControlTaskProxy construction!"<<endlog();
            throw;
        }

        this->synchronize();
    }

    ControlTaskProxy::ControlTaskProxy( ::RTT::Corba::ControlTask_ptr taskc) 
        : TaskContext("CORBAProxy"), mtask( taskc )
    {
        try {
            CORBA::String_var nm = mtask->getName(); // force connect to object.
            std::string name( nm.in() );
            this->mtask_name = name;
            proxies[mtask] = this;
        }
        catch (CORBA::Exception &e) {
            log(Error) << "CORBA exception raised when creating ControlTaskProxy!" << Logger::nl;
            Logger::log() << e._info().c_str() << endlog();
        }
        catch (...) {
            throw;
        }
        this->synchronize();
    }

    void ControlTaskProxy::synchronize()
    {
        if (!mtask)
            return;

        // load command and method factories.
        // methods:
        log(Debug) << "Fetching Methods."<<endlog();
        MethodInterface_var mfact = mtask->methods();
        if (mfact) {
            MethodList_var objs;
            objs = mfact->getMethods();
            for ( size_t i=0; i < objs->length(); ++i) {
                this->methods()->add( objs[i].in(), new CorbaMethodFactory( objs[i].in(), mfact.in(), ProxyPOA() ) );
            }
        }
        // commands:
        log(Debug) << "Fetching Commands."<<endlog();
        CommandInterface_var cfact = mtask->commands();
        if (cfact) {
            CommandList_var objs;
            objs = cfact->getCommands();
            for ( size_t i=0; i < objs->length(); ++i) {
                this->commands()->add( objs[i].in(), new CorbaCommandFactory( objs[i].in(), cfact.in(), ProxyPOA() ) );
            }
        }

        // first do properties:
      log(Debug) << "Fetching Properties."<<endlog();
        AttributeInterface::PropertyNames_var props = mtask->attributes()->getPropertyList();

        for (size_t i=0; i != props->length(); ++i) {
            if ( this->attributes()->hasProperty( string(props[i].name.in()) ) )
                continue; // previously added.
            Expression_var expr = mtask->attributes()->getProperty( props[i].name.in() );
            if ( CORBA::is_nil( expr ) ) {
                log(Error) <<"Property "<< string(props[i].name.in()) << " present in getPropertyList() but not accessible."<<endlog();
                continue; 
            }
#if 0 // This code may trigger endless recurse if server has recursive prop bags.
      // By using Property<PropertyBag>::narrow( ... ) this is no longer needed.
            // See if it is a PropertyBag:
            CORBA::Any_var any = expr->get();
            PropertyBag bag;
            if ( AnyConversion<PropertyBag>::update( *any, bag ) ) {
                Property<PropertyBag>* pbag = new Property<PropertyBag>( string(props[i].name.in()), string(props[i].description.in()), bag);
                this->attributes()->addProperty( pbag );
                continue;
            }
#endif
            AssignableExpression_var as_expr = AssignableExpression::_narrow( expr.in() );
            // addProperty also adds as attribute...
            if ( CORBA::is_nil( as_expr ) ) {
                log(Error) <<"Property "<< string(props[i].name.in()) << " was not writable !"<<endlog();
            } else {
                // If the type is known, immediately build the correct property and datasource,
                // otherwise, build a property of CORBA::Any.
                CORBA::String_var tn = as_expr->getTypeName();
                TypeInfo* ti = TypeInfoRepository::Instance()->type( tn.in() );
                Logger::log() <<Logger::Info << "Looking up Property " << tn.in();
                if ( ti ) {
                    this->attributes()->addProperty( ti->buildProperty( props[i].name.in(), props[i].description.in(), 
                                                                        ti->buildCorbaProxy( as_expr.in() ) ) );
                    Logger::log() <<Logger::Info <<" found!"<<endlog();
                }
                else {
                    this->attributes()->addProperty( new Property<CORBA::Any_ptr>( string(props[i].name.in()), string(props[i].description.in()), new CORBAAssignableExpression<Property<CORBA::Any_ptr>::DataSourceType>( as_expr.in() ) ) );
                    Logger::log()  <<Logger::Info<<" not found :-("<<endlog();
                }
            }
        }

      log(Debug) << "Fetching Attributes."<<endlog();
        // add attributes not yet added by properties:
        AttributeInterface::AttributeNames_var attrs = mtask->attributes()->getAttributeList();
        
        for (size_t i=0; i != attrs->length(); ++i) {
            if ( this->attributes()->hasAttribute( string(attrs[i].in()) ) )
                continue; // previously added.
            Expression_var expr = mtask->attributes()->getAttribute( attrs[i].in() );
            if ( CORBA::is_nil( expr ) ) {
                log(Error) <<"Attribute "<< string(attrs[i].in()) << " present in getAttributeList() but not accessible."<<endlog();
                continue; 
            }
            AssignableExpression_var as_expr = AssignableExpression::_narrow( expr.in()  );
            // If the type is known, immediately build the correct attribute and datasource,
            // otherwise, build a attribute of CORBA::Any.
            CORBA::String_var tn = expr->getTypeName();
            TypeInfo* ti = TypeInfoRepository::Instance()->type( tn.in() );
            log(Info) << "Looking up Attribute " << tn.in();
            if ( ti ) {
                Logger::log() <<": found!"<<endlog();
                if ( CORBA::is_nil( as_expr ) ) {
                    this->attributes()->setValue( ti->buildConstant( attrs[i].in(), ti->buildCorbaProxy( expr.in() ) ) );
                }
                else {
                    this->attributes()->setValue( ti->buildAttribute( attrs[i].in(), ti->buildCorbaProxy( as_expr.in() ) ) );
                }
            } else {
                Logger::log() <<": not found :-("<<endlog();
                if ( CORBA::is_nil( as_expr ) )
                    this->attributes()->setValue( new Constant<CORBA::Any_ptr>( attrs[i].in(), new CORBAExpression<CORBA::Any_ptr>( expr.in() ) ) );
                else
                this->attributes()->setValue( new Attribute<CORBA::Any_ptr>( attrs[i].in(), new CORBAAssignableExpression<CORBA::Any_ptr>( as_expr.in() ) ) );
            }
        }

        log(Debug) << "Fetching ScriptingAccess."<<endlog();
        Corba::ScriptingAccess_var saC = mtask->scripting();
        if ( saC ) {
            delete mscriptAcc;
            mscriptAcc = new ScriptingAccessProxy( saC.in() );
        }

        log(Debug) << "Fetching Ports."<<endlog();
        DataFlowInterface_var dfact = mtask->ports();
        if (dfact) {
            DataFlowInterface::PortNames_var objs;
            objs = dfact->getPorts();
            for ( size_t i=0; i < objs->length(); ++i) {
                this->ports()->addPort( new CorbaPort( objs[i].in(), dfact.in(), ProxyPOA() ) );
            }
        }

        this->fetchObjects(this, mtask.in() );

        log(Debug) << "All Done."<<endlog();
    }

    // Recursively fetch remote objects and create local proxies.
    void ControlTaskProxy::fetchObjects(OperationInterface* parent, ControlObject_ptr mtask)
    {
        log(Debug) << "Fetching Objects of "<<parent->getName()<<":"<<endlog();

        Corba::ObjectList_var plist = mtask->getObjectList();

        for( size_t i =0; i != plist->length(); ++i) {
            if ( string( plist[i] ) == "this")
                continue;
            ControlObject_var cobj = mtask->getObject(plist[i]);
            CORBA::String_var descr = cobj->getDescription();
            TaskObject* tobj = new TaskObject( std::string(plist[i]), std::string(descr.in()) );

            // add attributes:
            log(Info) << plist[i] << ": fetching Attributes."<<endlog();
            AttributeInterface::AttributeNames_var attrs = cobj->attributes()->getAttributeList();
        
            for (size_t i=0; i != attrs->length(); ++i) {
                if ( tobj->attributes()->hasAttribute( string(attrs[i].in()) ) )